DSP在寻北方位仪测控回路中的应用研究
摘要
快速寻北和方位测量系统采用的是惯性工作原理,其作用是在车体静止的情况下,通过寻北测量给出车体纵轴水平投影的真北方位角和当地的纬度值,从而装定方位基准。快速寻北和方位测量系统工作时不依赖外界信息,不会受到磁场物质等的环境干扰,在高低温的环境下表现了优越的性能,是一种自主式的方位指示系统。它能在全天候的环境下快速精确地测定北向,特别适用于高机动野战环境。
本论文首先对快速寻北和方位测量系统的原理进行了理论分析,进而对系统中稳定回路建立了系统未校正时的数学模型,结合系统参数,得到了一个标准的控制对象,之后设计了一个模糊PID控制器,并对其进行了仿真。仿真结果表明,通过选择适合的控制参数,稳定回路可设计成为一个响应速度快、稳态误差小的控制系统,并将其与经典PID控制、模糊控制方法相结合,经比较发现本文设计的模糊PID控制有较好的控制性能。
本文还对对快速寻北和方位测量系统的软硬件设计作了详细地介绍。传统的寻北方位系统采用PC104,因为其功耗大、体积大、集成度低、结构复杂、可靠性低、接口方式单一,无法满足对快速寻北系统小型化、高精度和实时性的要求。本论文采用TMS320C6713芯片构建快速寻北和方位测量系统的计算机系统。TMS320C6713作为一种高性能低价格的数字信号处理器,具有高效、高速、高精度等优点,这就为寻北方位系统中的复杂数学运算奠定了基础。本课题以TMS320C6713芯片为核心,调试了数据的采集、处理、输出、信息通讯等硬件电路和相关软件,实现了寻北和方位保持功能。
The system of Rapid North-Seeking and Orientation-Measuring works with inertial principle. Its function is to obtain the azimuth angle with respect to geographic north and local latitude through north-seeking measure under the condition of the carrier staying at static state so that aligning orientation. The Rapid North-Seeking and Orientation-Measuring system is a kind of self-contained and independent position indicating system without relying on any outside information. It can not be interfered by the environment such as magnetic field. It behaved premium properties under the condition of either high or low temperature. The system can fast determine geographic north precisely under all-day environment, and is suitable for the high mobile field operation environment especially.
The thesis first analyse the theory of the system, designed a mathematical model of un-mended system, and simplified the system parameter, obtained a standard control object, designed Fuzzy-PID controller and simulated the control object subsequently .The results of simulation show that the inertial platform stabilizing circuits can be designed with high response speed, strong anti-jamming and high accuracy. Compared with the classical PID control, and fuzzy control, the Fuzzy-PID controller designed here performances much better.
In the thesis, the software and hardware of north-seeker system are designed.Formerly north seeker systems use the PC104 microprocessors, Device for high power consumption , big volume,low integration,circuit complexity,low reliability,and sole interface mode, it are unable to meet the demand of north seeker for small size, high-precision and real-time.The thesis uses TMS320C6713 chip to construct the computer platform for the Rapid North-Seeking and Orientation-Measuring system. TMS320C6713,the DSP, as an special digital signal processor,has high operation speed and precision, and it make the operation of complicated mathematics in north-seeking system more easy with all these advantages.Using C6713 as the core, this project designed and debugged the hardware and software consisting of data collection, processing and output, the communication. The north-seeking and Orientation-Measuring function is realized.
本论文首先对快速寻北和方位测量系统的原理进行了理论分析,进而对系统中稳定回路建立了系统未校正时的数学模型,结合系统参数,得到了一个标准的控制对象,之后设计了一个模糊PID控制器,并对其进行了仿真。仿真结果表明,通过选择适合的控制参数,稳定回路可设计成为一个响应速度快、稳态误差小的控制系统,并将其与经典PID控制、模糊控制方法相结合,经比较发现本文设计的模糊PID控制有较好的控制性能。
本文还对对快速寻北和方位测量系统的软硬件设计作了详细地介绍。传统的寻北方位系统采用PC104,因为其功耗大、体积大、集成度低、结构复杂、可靠性低、接口方式单一,无法满足对快速寻北系统小型化、高精度和实时性的要求。本论文采用TMS320C6713芯片构建快速寻北和方位测量系统的计算机系统。TMS320C6713作为一种高性能低价格的数字信号处理器,具有高效、高速、高精度等优点,这就为寻北方位系统中的复杂数学运算奠定了基础。本课题以TMS320C6713芯片为核心,调试了数据的采集、处理、输出、信息通讯等硬件电路和相关软件,实现了寻北和方位保持功能。
The system of Rapid North-Seeking and Orientation-Measuring works with inertial principle. Its function is to obtain the azimuth angle with respect to geographic north and local latitude through north-seeking measure under the condition of the carrier staying at static state so that aligning orientation. The Rapid North-Seeking and Orientation-Measuring system is a kind of self-contained and independent position indicating system without relying on any outside information. It can not be interfered by the environment such as magnetic field. It behaved premium properties under the condition of either high or low temperature. The system can fast determine geographic north precisely under all-day environment, and is suitable for the high mobile field operation environment especially.
The thesis first analyse the theory of the system, designed a mathematical model of un-mended system, and simplified the system parameter, obtained a standard control object, designed Fuzzy-PID controller and simulated the control object subsequently .The results of simulation show that the inertial platform stabilizing circuits can be designed with high response speed, strong anti-jamming and high accuracy. Compared with the classical PID control, and fuzzy control, the Fuzzy-PID controller designed here performances much better.
In the thesis, the software and hardware of north-seeker system are designed.Formerly north seeker systems use the PC104 microprocessors, Device for high power consumption , big volume,low integration,circuit complexity,low reliability,and sole interface mode, it are unable to meet the demand of north seeker for small size, high-precision and real-time.The thesis uses TMS320C6713 chip to construct the computer platform for the Rapid North-Seeking and Orientation-Measuring system. TMS320C6713,the DSP, as an special digital signal processor,has high operation speed and precision, and it make the operation of complicated mathematics in north-seeking system more easy with all these advantages.Using C6713 as the core, this project designed and debugged the hardware and software consisting of data collection, processing and output, the communication. The north-seeking and Orientation-Measuring function is realized.
引文
[1]李嵘,白洁雁.全姿态动调陀螺定北仪原理与实现.导航与控制.2002
[2]谈振藩,周宏宇.导航信息系统转换.国防工业出版社,1992:30-41页
[3]吴俊伟.惯性技术基础.哈尔滨工程大学,2002:10-26页
[4]卜继军,魏贵玲,李勇建,吕志清.陀螺寻北仪二位置寻北方案.仪表研究与设计.2002
[5]郭秀中.惯导系统陀螺仪理论.北京:国防工业出版社,1985
[6]黄德鸣,程禄.惯性导航系统.哈尔滨工程大学,1999:1-42页
[7]雷渊超.惯性导航系统.哈尔滨船舶工程学院出版社,1978:132-183页
[8]D.H.Titterton,J.L.Wweston.Strapdown Inertial Navigation Technology,Peter Perrgrinus Ltd.On behalf of the Institution of Electrical Engineers,1997
[9]Wu Wenqi,Jiang Ming,Tuo Zhouhui.Successive Rotating Technique for a Ring Laser Gyro North-Finder.ternational Conference on Navigation Guidance and Control,2001
[10]高茂林.陀螺寻北装置研究.西北工业大学,2006.
[11]谢长生.一种快速自动寻北装置的研究.上海航天.1997
[12]黄惟一.陀螺仪器原理.国防工业出版社,1987.9-38页
[13]余祖荫等.车载寻北仪及其研究.25 mm自行高炮论文集.1990
[14]谈振藩,谈封.MATLAB语言程序设计5.2版.哈尔滨工程大学出版社,2000:3-10页
[15]刘金琨.先进PID控制及其MATLAB仿真.电子工业出版社,2003.1:121-150页
[16]陶永华.新型PID控制及其应用.机械工业出版社,2002,9:300-316页
[17]朱良红,王永初.模糊与积分混合控制器.华侨大学学报(自然科学 版).2003,24(3):285-289页
[18]贺云,简林,林廷等.模糊控制的3种积分方法对比及应用
[19]闻新,周露等.MATLAB模糊逻辑工具箱的分析与应用.科学出版社,2001
[20]阎石.数字电子技术基础(第四版).北京:高等教育出版社,2000
[21]胡广书.数字信号处理-理论、算法与实现.华大学出版社,2002.9
[22]王念旭.DSP基础与应用系统设计.北京航空航天大学出版社,2001
[23]TMS320C6000 Peripherals Reference Guide.Texas Instruments Incorporated.2001
[24]TMS320C6713B FLOATING-POINT DIGITAL SIGNAL PROCESSOR.Texas Instruments Incorporated.2005
[25]李方慧,王飞,何佩琨.TMS320C6000系列DSPs原理与应用.北京电子工业出版社,2003:12-500页
[26]罗钢等.利用仿真器接口实现TMS320C6X DSP FLASH的烧写及应用程序自引导.现代电子技术.2005(4):12-14页
[27]彭启宗,李玉柏等.DSP与实时数字信号处理.电子科技大学出版社,1995
[28]苏涛,卢光跃,张林让.DSP实用技术
[29]谭浩强.C程序设计.清华大学出版社,1991.7
[30]张雄伟,陈亮,徐光辉.DSP芯片的原理与开发
[31]文小芳.基于DSP的快速寻北技术研究
[2]谈振藩,周宏宇.导航信息系统转换.国防工业出版社,1992:30-41页
[3]吴俊伟.惯性技术基础.哈尔滨工程大学,2002:10-26页
[4]卜继军,魏贵玲,李勇建,吕志清.陀螺寻北仪二位置寻北方案.仪表研究与设计.2002
[5]郭秀中.惯导系统陀螺仪理论.北京:国防工业出版社,1985
[6]黄德鸣,程禄.惯性导航系统.哈尔滨工程大学,1999:1-42页
[7]雷渊超.惯性导航系统.哈尔滨船舶工程学院出版社,1978:132-183页
[8]D.H.Titterton,J.L.Wweston.Strapdown Inertial Navigation Technology,Peter Perrgrinus Ltd.On behalf of the Institution of Electrical Engineers,1997
[9]Wu Wenqi,Jiang Ming,Tuo Zhouhui.Successive Rotating Technique for a Ring Laser Gyro North-Finder.ternational Conference on Navigation Guidance and Control,2001
[10]高茂林.陀螺寻北装置研究.西北工业大学,2006.
[11]谢长生.一种快速自动寻北装置的研究.上海航天.1997
[12]黄惟一.陀螺仪器原理.国防工业出版社,1987.9-38页
[13]余祖荫等.车载寻北仪及其研究.25 mm自行高炮论文集.1990
[14]谈振藩,谈封.MATLAB语言程序设计5.2版.哈尔滨工程大学出版社,2000:3-10页
[15]刘金琨.先进PID控制及其MATLAB仿真.电子工业出版社,2003.1:121-150页
[16]陶永华.新型PID控制及其应用.机械工业出版社,2002,9:300-316页
[17]朱良红,王永初.模糊与积分混合控制器.华侨大学学报(自然科学 版).2003,24(3):285-289页
[18]贺云,简林,林廷等.模糊控制的3种积分方法对比及应用
[19]闻新,周露等.MATLAB模糊逻辑工具箱的分析与应用.科学出版社,2001
[20]阎石.数字电子技术基础(第四版).北京:高等教育出版社,2000
[21]胡广书.数字信号处理-理论、算法与实现.华大学出版社,2002.9
[22]王念旭.DSP基础与应用系统设计.北京航空航天大学出版社,2001
[23]TMS320C6000 Peripherals Reference Guide.Texas Instruments Incorporated.2001
[24]TMS320C6713B FLOATING-POINT DIGITAL SIGNAL PROCESSOR.Texas Instruments Incorporated.2005
[25]李方慧,王飞,何佩琨.TMS320C6000系列DSPs原理与应用.北京电子工业出版社,2003:12-500页
[26]罗钢等.利用仿真器接口实现TMS320C6X DSP FLASH的烧写及应用程序自引导.现代电子技术.2005(4):12-14页
[27]彭启宗,李玉柏等.DSP与实时数字信号处理.电子科技大学出版社,1995
[28]苏涛,卢光跃,张林让.DSP实用技术
[29]谭浩强.C程序设计.清华大学出版社,1991.7
[30]张雄伟,陈亮,徐光辉.DSP芯片的原理与开发
[31]文小芳.基于DSP的快速寻北技术研究